version: 66.03
glider: 122
mission: 6
dive: 208
start: 3 30 108 9 47 25
data:
$ID,122
$MISSION,6
$DIVE,208
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,366
$T_MISSION,439
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51598
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-31049.734
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3579
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.2
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.1162887
$PRESSURE_SLOPE,0.00025722419
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044208211
$SEABIRD_T_H,0.00065343338
$SEABIRD_T_I,2.7514026e-05
$SEABIRD_T_J,3.0288847e-06
$SEABIRD_C_G,-10.084093
$SEABIRD_C_H,1.1290534
$SEABIRD_C_I,-0.0015321091
$SEABIRD_C_J,0.00018406138
$GPS1,093631,1249.549,12031.483,38,1.0,43,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.6
$GPS2,094651,1249.552,12031.494,15,1.3,15,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,249.3,29793,-18.6,-9.016
$D_GRID,1120
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.56,-146.0,0.0,0.0,0,81,0.00,0.00,-58.30,0.000,2,0.000,0.000,251,2111,2439
$GC,84,-1.56,-146.0,3.5,-8.7,10,122,13.52,2.53,-16.45,0.000,4,0.175,0.052,2561,3569,3346
$GC,170,-1.20,-146.0,26.9,-24.8,24,178,0.43,2.33,0.00,0.000,6,0.121,0.028,2639,2171,3347
$GC,516,-1.09,-146.0,87.0,-15.0,85,523,0.15,0.00,0.00,0.000,6,0.114,0.000,2669,2169,3348
$GC,860,-1.14,-146.0,128.3,-10.3,146,867,0.00,2.40,0.00,0.000,4,0.000,0.042,2669,3568,3350
$GC,953,-1.20,-146.0,137.1,-9.6,162,961,0.12,2.35,0.00,0.000,6,0.057,0.027,2630,2147,3350
$GC,1299,-1.25,-146.0,170.9,-10.0,223,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2146,3351
$GC,1644,-1.30,-146.0,199.8,-8.7,284,1651,0.00,2.45,0.00,0.000,4,0.000,0.043,2630,3571,3351
$GC,1691,-1.34,-146.0,204.2,-9.2,292,1698,0.00,2.30,0.00,0.000,6,0.000,0.028,2630,2183,3351
$GC,2036,-1.41,-146.0,235.1,-9.0,353,2043,0.15,2.38,0.00,0.000,4,0.050,0.042,2580,3564,3351
$GC,2073,-1.36,-146.0,239.1,-11.0,359,2081,0.15,2.30,0.00,0.000,6,0.097,0.029,2609,2184,3351
$GC,2406,-1.36,-146.0,272.3,-9.6,399,2410,0.00,2.50,0.00,0.000,4,0.000,0.048,2609,753,3350
$GC,2450,-1.41,-146.0,276.9,-10.5,402,2457,0.00,2.47,0.00,0.000,6,0.000,0.031,2609,2219,3349
$GC,2778,-1.41,-146.0,305.6,-8.4,433,2782,0.00,2.33,0.00,0.000,4,0.000,0.048,2609,3564,3348
$GC,2810,-1.41,-146.0,308.9,-8.7,435,2817,0.00,2.30,0.00,0.000,6,0.000,0.030,2609,2190,3348
$GC,3137,-1.41,-146.0,337.3,-9.0,466,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2189,3346
$GC,3453,-1.41,-146.0,366.8,-9.3,496,3457,0.00,2.40,0.00,0.000,4,0.000,0.048,2609,3567,3344
$GC,3498,-1.41,-146.0,371.1,-9.4,500,3502,0.00,2.30,0.00,0.000,6,0.000,0.032,2609,2205,3344
$GC,3830,-1.44,-146.0,401.0,-9.1,531,3834,0.00,2.38,0.00,0.000,4,0.000,0.048,2609,3562,3341
$GC,3862,-1.47,-146.0,404.3,-8.9,533,3870,0.12,2.28,0.00,0.000,6,0.057,0.032,2574,2218,3342
$GC,4189,-1.43,-146.0,437.6,-10.6,564,4193,0.00,2.60,0.00,0.000,4,0.000,0.052,2574,751,3339
$GC,4216,-1.43,-146.0,440.5,-10.3,566,4221,0.00,2.55,0.00,0.000,6,0.000,0.033,2573,2239,3339
$GC,4543,-1.38,-146.0,473.5,-10.4,596,4548,0.15,2.33,0.00,0.000,4,0.109,0.049,2604,3567,3337
$GC,4575,-1.38,-146.0,476.9,-9.2,598,4583,0.00,2.30,0.00,0.000,6,0.000,0.033,2605,2226,3337
$GC,4911,-1.38,-146.0,506.3,-8.8,627,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2224,3334
$GC,5219,-1.38,-146.0,532.5,-8.0,642,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2224,3332
$GC,5528,-1.38,-146.0,556.7,-7.6,657,5532,0.00,2.38,0.00,0.000,4,0.000,0.052,2604,3567,3330
$GC,5600,-1.38,-146.0,562.7,-8.7,660,5604,0.00,2.25,0.00,0.000,6,0.000,0.035,2604,2241,3329
$GC,5916,-1.38,-146.0,586.6,-7.5,675,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2239,3328
$GC,6228,-1.38,-146.0,611.7,-8.5,690,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2239,3326
$GC,6535,-1.42,-146.0,637.2,-8.0,705,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2238,3324
$GC,6845,-1.45,-146.0,661.1,-7.7,720,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2238,3323
$GC,7154,-1.49,-146.0,685.8,-8.2,735,7159,0.12,2.67,0.00,0.000,4,0.061,0.058,2570,753,3322
$GC,7198,-1.49,-146.0,690.3,-10.1,737,7202,0.00,2.60,0.00,0.000,6,0.000,0.037,2570,2259,3322
$GC,7522,-1.46,-146.0,720.8,-9.5,753,7526,0.00,2.30,0.00,0.000,4,0.000,0.056,2571,3561,3321
$GC,7554,-1.42,-146.0,724.8,-11.2,754,7562,0.12,2.22,0.00,0.000,6,0.114,0.035,2592,2250,3320
$GC,7872,-1.42,-146.0,752.1,-8.1,770,7876,0.00,2.67,0.00,0.000,4,0.000,0.058,2592,759,3318
$GC,7905,-1.45,-146.0,755.1,-8.5,771,7912,0.00,2.58,0.00,0.000,6,0.000,0.038,2592,2250,3318
$GC,8221,-1.45,-146.0,780.5,-8.3,787,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2249,3317
$GC,8530,-1.45,-146.0,804.1,-7.3,802,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2249,3316
$GC,8839,-1.45,-146.0,826.5,-7.3,817,8843,0.00,2.70,0.00,0.000,4,0.000,0.059,2592,752,3314
$GC,8884,-1.50,-146.0,830.0,-7.5,819,8888,0.00,2.58,0.00,0.000,6,0.000,0.038,2592,2240,3314
$GC,9205,-1.50,-146.0,854.3,-7.9,835,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2241,3313
$GC,9514,-1.53,-146.0,879.8,-8.4,850,9522,0.00,2.65,0.00,0.000,4,0.000,0.059,2592,759,3312
$GC,9550,-1.58,-146.0,883.2,-8.4,851,9555,0.15,2.55,0.00,0.000,6,0.057,0.039,2553,2231,3312
$GC,9867,-1.53,-146.0,914.1,-9.8,866,9871,0.00,2.65,0.00,0.000,4,0.000,0.059,2553,754,3311
$GC,9907,-1.49,-146.0,918.3,-10.6,868,9912,0.15,2.53,0.00,0.000,6,0.115,0.039,2579,2215,3311
$GC,10235,-1.49,-146.0,945.6,-7.9,884,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2216,3310
$GC,10544,-1.49,-146.0,971.2,-7.9,899,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2216,3309
$STATE,10789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10789,begin apogee
$GC,10795,-0.35,0.0,991.1,8.4,911,10920,1.23,0.00,121.78,1.395,6,0.105,0.000,2823,2391,2748
$STATE,10921,end apogee,CONTROL_FINISHED_OK
$STATE,10921,begin climb
$GC,10923,1.56,146.0,995.0,0.0,917,11059,1.95,2.47,128.02,1.347,4,0.060,0.064,3245,3719,2151
$GC,11218,1.27,146.0,969.1,12.8,930,11223,0.35,2.33,0.00,0.000,6,0.138,0.040,3186,2382,2149
$GC,11535,1.13,146.0,936.0,10.6,945,11537,0.20,0.00,0.00,0.000,6,0.123,0.000,3151,2382,2148
$GC,11844,1.08,152.7,908.3,8.7,960,11851,0.00,0.00,5.47,1.344,6,0.000,0.000,3150,2381,2125
$GC,12153,1.05,170.8,881.6,8.2,975,12176,0.00,2.62,16.33,1.338,4,0.000,0.060,3150,972,2050
$GC,12284,0.99,171.9,869.5,9.0,980,12292,0.17,2.50,0.00,0.000,6,0.116,0.041,3119,2388,2049
$GC,12600,1.01,183.5,843.3,8.5,996,12613,0.00,0.00,11.12,1.332,6,0.000,0.000,3119,2388,1999
$GC,12909,1.05,184.8,815.3,9.0,1011,12914,0.00,2.60,0.00,0.000,4,0.000,0.061,3119,962,1997
$GC,12953,1.05,185.4,811.1,9.0,1013,12957,0.00,2.50,0.00,0.000,6,0.000,0.041,3119,2382,1997
$GC,13275,1.11,201.2,784.5,8.3,1029,13296,0.12,0.00,15.60,1.296,6,0.075,0.000,3148,2382,1927
$GC,13604,1.11,201.2,752.8,9.3,1045,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2382,1926
$GC,13913,1.13,213.3,725.9,8.5,1060,13929,0.00,2.62,10.68,1.265,4,0.000,0.060,3148,972,1877
$GC,14013,1.15,226.1,716.9,8.4,1063,14029,0.00,2.45,11.30,1.246,6,0.000,0.040,3148,2363,1826
$GC,14351,1.16,229.4,686.7,8.9,1080,14356,0.00,0.00,3.05,1.212,6,0.000,0.000,3148,2362,1812
$GC,14661,1.16,229.4,658.8,9.0,1095,14665,0.00,2.55,0.00,0.000,4,0.000,0.061,3148,963,1812
$GC,14694,1.16,229.4,655.7,9.1,1096,14702,0.00,2.42,0.00,0.000,6,0.000,0.040,3148,2354,1812
$GC,15010,1.17,237.9,628.5,8.6,1112,15024,0.00,2.60,7.75,1.205,4,0.000,0.059,3148,975,1778
$GC,15076,1.17,237.9,622.4,9.5,1115,15080,0.00,2.42,0.00,0.000,6,0.000,0.040,3148,2345,1778
$GC,15402,1.20,237.9,592.5,9.0,1131,15407,0.00,2.50,0.00,0.000,4,0.000,0.063,3148,3733,1777
$GC,15435,1.20,237.9,589.1,10.1,1132,15442,0.00,2.40,0.00,0.000,6,0.000,0.038,3148,2347,1777
$GC,15752,1.24,237.9,559.0,9.7,1148,15757,0.12,2.50,0.00,0.000,4,0.068,0.058,3180,962,1777
$GC,15823,1.19,237.9,551.1,10.2,1151,15828,0.00,2.42,0.00,0.000,6,0.000,0.039,3180,2352,1776
$GC,16139,1.19,237.9,518.4,10.3,1166,16141,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2352,1777
$GC,16451,1.19,237.9,487.8,9.3,1186,16456,0.00,2.50,0.00,0.000,4,0.000,0.058,3180,967,1776
$GC,16547,1.15,237.9,478.5,9.9,1194,16552,0.12,2.35,0.00,0.000,6,0.119,0.038,3159,2317,1777
$GC,16873,1.15,237.9,448.4,9.4,1224,16874,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2316,1777
$GC,17192,1.17,250.3,420.2,8.5,1254,17208,0.00,2.47,10.98,1.049,4,0.000,0.057,3158,970,1727
$GC,17230,1.17,250.3,416.8,9.9,1257,17237,0.00,2.35,0.00,0.000,6,0.000,0.038,3158,2310,1727
$GC,17557,1.26,275.6,390.7,7.9,1288,17583,0.00,2.50,21.70,0.989,4,0.000,0.057,3158,966,1624
$GC,17613,1.31,281.3,385.7,8.8,1293,17626,0.15,2.38,5.15,1.003,6,0.063,0.037,3198,2314,1600
$GC,17942,1.31,281.3,353.5,9.7,1324,17943,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2313,1599
$GC,18263,1.31,281.3,322.2,9.8,1354,18267,0.00,2.53,0.00,0.000,4,0.000,0.057,3198,3733,1599
$GC,18294,1.31,281.3,318.5,11.8,1356,18302,0.00,2.45,0.00,0.000,6,0.000,0.037,3199,2308,1599
$GC,18623,1.31,281.3,285.3,10.5,1387,18627,0.00,2.40,0.00,0.000,4,0.000,0.056,3198,969,1599
$GC,18707,1.31,281.3,275.8,11.2,1394,18711,0.00,2.35,0.00,0.000,6,0.000,0.037,3198,2322,1599
$GC,19036,1.31,281.3,241.1,10.3,1432,19042,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2322,1599
$GC,19379,1.32,287.3,207.9,8.8,1493,19393,0.00,2.47,5.22,0.882,4,0.000,0.054,3198,975,1576
$GC,19506,1.32,287.3,195.9,9.7,1515,19513,0.00,2.28,0.00,0.000,6,0.000,0.035,3198,2290,1576
$GC,19851,1.40,310.2,165.3,8.0,1576,19878,0.00,2.42,18.95,0.798,4,0.000,0.052,3198,966,1481
$GC,19926,1.45,310.2,159.1,9.0,1588,19933,0.00,2.25,0.00,0.000,6,0.000,0.035,3198,2266,1480
$GC,20271,1.63,356.6,133.4,6.9,1649,20319,0.25,2.67,37.58,0.735,4,0.053,0.051,3263,3723,1293
$GC,20371,1.63,356.6,124.6,9.7,1665,20378,0.00,2.53,0.00,0.000,6,0.000,0.035,3263,2263,1291
$GC,20716,1.68,390.8,96.1,7.5,1726,20750,0.00,2.40,27.52,0.695,4,0.000,0.051,3263,969,1153
$GC,20813,1.75,409.6,88.5,8.2,1742,20835,0.10,2.22,15.02,0.691,6,0.067,0.032,3290,2264,1078
$GC,21174,1.81,409.6,56.5,9.3,1805,21181,0.00,2.58,0.00,0.000,4,0.000,0.048,3290,3733,1075
$GC,21256,1.88,409.6,49.0,9.2,1819,21263,0.00,2.50,0.00,0.000,6,0.000,0.031,3290,2257,1074
$GC,21601,2.01,442.4,22.4,7.5,1880,21636,0.20,2.62,26.23,0.597,4,0.050,0.044,3349,3734,943
$GC,21659,1.98,442.4,16.2,11.4,1889,21666,0.00,2.42,0.00,0.000,6,0.000,0.030,3349,2304,942
$STATE,21794,end climb,SURFACE_DEPTH_REACHED
$STATE,21794,begin surface coast
$FINISH,-0.1,1.021075
$STATE,21815,end surface coast,CONTROL_FINISHED_OK
$STATE,21815,begin surface
$SM_CCo,21837,16.45,0.581,0,0,810,475.15
$SM_GC,0.53,0.00,0.00,16.45,0.000,0.000,0.581,251,2120,810,-12.21,-0.85,475.15
$IRIDIUM_FIX,1245.46,12029.39,240697,090912
$TT8_MAMPS,0.023777
$HUMID,1993
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.40
$XPDR_PINGS,387
$24V_AH,23.1,38.474
$10V_AH,10.1,19.458
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,34.100,177.225,499.450,16.450,0.000,51.532,76.330,295.765,109.250,0.000,0.000,15.295,4033.211,13780.825,726.278,3164.520,770.496,0.000,2319.992,0.000,3093.135,0.000,91.601
$DEVICE_MAMPS,174.876,63.661,1395.173,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1289.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59782,1916
$CAP_FILE_SIZE,207180,0
$CFSIZE,260165632,240521216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,336.5,1
$GPS,300308,155256,1249.199,12029.233,41,1.2,41,-0.8